US9973128B2 - Control device - Google Patents

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US9973128B2
US9973128B2 US14/917,714 US201414917714A US9973128B2 US 9973128 B2 US9973128 B2 US 9973128B2 US 201414917714 A US201414917714 A US 201414917714A US 9973128 B2 US9973128 B2 US 9973128B2
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value
current
error
section
current sensor
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US20160218652A1 (en
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Takashi Yamaguchi
Yugo Tadano
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Meidensha Corp
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Meidensha Corp
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/12—Observer control, e.g. using Luenberger observers or Kalman filters
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators

Definitions

  • the present invention relates to a control device having an error correction function for a current sensor.
  • a suppression control of occurrence of periodic disturbance there are power system control in a power receiving and transforming facility, positioning control using a robot, axial torque resonance control for a dynamometer system, oscillation suppression of a motor casing (related to ride comfort of an electric vehicle, an elevator, or the like), and the like, and there is a demand for suppressing the periodic disturbance in the respective products with high accuracy.
  • a motor generates a torque ripple by the principles of the motor, and this causes various problems such as oscillation, noise, an adverse effect on ride comfort, and electrical and mechanical resonance.
  • a cogging torque ripple and a reluctance torque ripple are generated in a complex manner.
  • a periodic disturbance observer compensation method has been proposed as a control method of suppressing a torque ripple.
  • FIG. 8 illustrates a control block diagram regarding an n-th order torque ripple frequency component in a periodic disturbance observer which is disclosed in Patent Document 1 and Non-Patent Document 1.
  • a reference numeral 1 indicates a torque ripple compensation value calculation section.
  • the torque ripple compensation value calculation section By multiplying differences between a control command rn (normally, 0) of a sine wave/a cosine wave and estimated values dT A ⁇ n, dT B ⁇ n by a periodic disturbance observer 3 by a sine wave value/a cosine wave value respectively then by adding these multiplication values, the torque ripple compensation value calculation section generates a torque ripple compensation command Tc*n, and outputs it to a control target (control object) 2 .
  • periodic disturbance hereinafter, referred to as periodic disturbance dTn
  • a control target an object to be controlled
  • a torque ripple which is disturbance synchronized with a rotation speed due to a cogging torque corresponds to the periodic disturbance, and causes oscillation or noise.
  • the periodic disturbance observer 3 is an observer that suppresses the periodic disturbance dTn.
  • the periodic disturbance observer 3 directly estimates the disturbance of frequency of the control target and compensates for the disturbance.
  • P ⁇ n P ⁇ A n+jP ⁇ B n (1)
  • n indicates an n-th order component
  • a system in a case where system identification results from 1 Hz to 1000 Hz are expressed in a complex vector for each 1 Hz, a system can be expressed by using a table including 1000 one-dimensional complex vector elements. Alternatively, the system may be expressed by mathematical expression of the identification result. In either of these two methods, a system model for a specific frequency component can be expressed in a simple one-dimensional complex vector.
  • the periodic disturbance observer 3 Since a torque ripple of a motor is disturbance which is periodically generated according to a rotation phase ⁇ [rad], as a control of the periodic disturbance observer 3 , the periodic disturbance observer 3 performs conversion into a cosine coefficient T A n and a sine coefficient T B n of arbitrary order n (an integer multiple (or an integral multiple) of an electrical rotational frequency) by using torque pulsation frequency component extracting manner.
  • n an integer multiple (or an integral multiple) of an electrical rotational frequency
  • Patent Document 1 International Publication No. WO2010/024195A1
  • Non-Patent Document 1 Torque Ripple Suppression Control Method based on Periodic Disturbance Observer with Complex Vector Representation for Permanent Magnet Synchronous Motors, IEEJ Journal of Industry Applications D, Vol. 132, No. 1, p. 84 to 93 (2012)
  • the offset error mainly generates periodic disturbance of 1f of a synchronization frequency
  • the gain error mainly generates periodic disturbance of 2f.
  • An object of the present invention is to provide a control device having a function of correcting gain and offset errors in a current sensor.
  • a control device generates, by a current control section, a voltage command value from a current command value and a current detection value by a current sensor, and the control device is configured so that the voltage command value is inputted to a plant model section and a virtual current value is calculated, the virtual current value is inputted to a periodic disturbance observer via a coordinate transform section and a compensation value is calculated in the periodic disturbance observer, the calculated compensation value is superimposed on the current detection value via a coordinate inverse-transform section, and the current detection value of the current sensor is corrected.
  • a current sensor error estimation section including an offset error calculation section and a gain error calculation section is provided, a value obtained by superimposing the compensation value on the current detection value and the current detection value are respectively inputted to the offset error calculation section and the gain error calculation section and an offset error and a gain error are calculated, and an error in the current sensor is estimated on the basis of respective calculated error signals.
  • a current error operation section is provided on an output side of the current sensor, a memory that stores a current sensor error estimation value via a switch is provided on an output side of the current sensor error estimation section, a switch is connected to an output side of the compensation value from the periodic disturbance observer, and either the current sensor error estimation value stored in the memory or the compensation value from the periodic disturbance observer is outputted in a switching manner, and the current error operation section corrects the current detection value on the basis of the current sensor error estimation value stored in the memory when the switch connected to the memory is turned on.
  • a control device that generates, by a current control section, a voltage command value from a current command value and a current detection value by a current sensor, and the current sensor performs two-phase detection, a current error operation section is provided on an output side of the current sensor, the voltage command value is inputted to a plant model section and a virtual current value is calculated, the virtual current value is inputted to a periodic disturbance observer via a function component detection section, a compensation value calculated by the periodic disturbance observer and the virtual current value are inputted to a compensation value/error transform section and a current sensor error estimation value is calculated, and the current sensor error estimation value is inputted to the current error operation section and the current detection value of the current sensor is corrected.
  • an output side of the periodic disturbance observer is connected to the current error operation section via a switch, a memory that stores the compensation value is provided on the output side of the periodic disturbance observer, and the current detection value is corrected on the basis of the compensation value stored in the memory when oscillation suppression control converges.
  • the current command value is generated on the basis of a torque control command value
  • the current error operation section is provided on an output side of the current sensor
  • the plant model section outputs an estimation value of an output torque, and a value obtained so that an error is reduced through comparison of the estimation value of the output torque with the torque control command value is outputted to the current error operation section.
  • the current command value is generated on the basis of a torque control command value
  • the plant model section outputs an estimation value of an output torque, and a value obtained so that an error is reduced through comparison of the estimation value of the output torque with the torque control command value is outputted to the current error operation section.
  • FIG. 1 is a control block diagram of current detection error correction, showing an embodiment of the present invention.
  • FIG. 2 is a control block diagram of current detection error correction, showing another embodiment of the present invention.
  • FIG. 3 is a control block diagram of current detection error correction, showing still another embodiment of the present invention.
  • FIG. 4 is a control block diagram of current detection error correction, showing still another embodiment of the present invention.
  • FIG. 5 is a control block diagram of current detection error correction, showing still another embodiment of the present invention.
  • FIG. 6 is a control block diagram of current detection error correction, showing still another embodiment of the present invention.
  • FIG. 7 is a control block diagram of current detection error correction, showing still another embodiment of the present invention.
  • FIG. 8 is a control block diagram of a periodic disturbance observer.
  • inverter drive as a method of detecting three-phase AC currents for controlling currents, there are two cases; one is a case where a detector is provided for each phase of three phases, and the other is a case where detectors for two phases are provided and a remaining current value is determined through calculation. Since there is a slight difference in the influence of a sensor error between the these cases, these will be explained separately.
  • Equation (2) a dq coordinate transform equation from currents i u , i v , and i w into idq is represented by Equation (2).
  • Cn ⁇ and Sn ⁇ respectively indicate cos (n ⁇ ) and sin (n ⁇ ).
  • Equation (4) three-phase currents i′ u , i′ v , and i′ w with detection errors are represented by Equation (4).
  • Equations (2) to (4) can be developed into Equation (5) with respect to id′ and iq′ in which the offset and gain errors are present.
  • Equation (5) can be represented by Equation (6) with the term of the rotation synchronization frequency 1f as id 1f and iq 1f , the term of 2f as id 2f and iq 2f , and the constant term as Dd and Dq.
  • Equation (7) a dq coordinate transform equation from currents i u and i v into id and iq is represented by Equation (7).
  • i w is calculated from i u and i v by using Equation (8).
  • Equation (9) When developing Equations (3), (4), (7) and (8) with respect to id′ and iq′ in which the offset and gain errors are present, Equation (9) is obtained.
  • Equation (9) can also be represented as Equation (6).
  • Equation (11) an output torque can be represented by Equation (11), on the basis of a general torque equation (10) of a PM motor.
  • Ld indicates d axis inductance
  • Lq indicates q axis inductance
  • ⁇ indicates the number of interlinkage fluxes.
  • Patent Document 1 a periodic disturbance observer or the like has been proposed in Patent Document 1 or Non-Patent Document 1 as a method of reducing periodic disturbance.
  • a torque ripple is suppressed by generating a compensation signal with the torque being a control target (with the torque being an object to be controlled).
  • the torque ripple can be reduced in this way, it is necessary to provide a torque sensor on an external side. Since a sensor error inside a control device is a factor, it can be conceivable that if a sensor gain and offset or a detection current can be appropriately adjusted, a torque ripple can be reduced without using an unnecessary measurement device.
  • the occurrence of oscillation due to the current sensor is not limited to a combination of the inverter and the motor, and is a problem that also commonly occurs in control devices (power system devices and the like) using the current sensor. Therefore, although each embodiment described below will be explained by exemplifying an inverter and a motor, each embodiment is also applicable to a general control device.
  • FIG. 1 is a control block diagram of current detection error correction.
  • a reference numeral 1 indicates an inverter that is a control device, a reference numeral 2 indicates a motor as a control target (an object to be controlled), and a reference numeral 3 indicates a periodic disturbance observer.
  • the inverter 1 includes a transform section 11 which transforms a torque command value T* into current command values i* dq (i d , i q ) of d and q axes; and a current control section 12 which calculates voltage command values v dq ref on the basis of differences between the output currents i* dq from the transform section 11 and signals i dq which are detected via a current sensor 15 and a three-phase/two-phase coordinate transform section 14 .
  • a reference numeral 4 indicates a plant model section
  • a reference numeral 5 indicates a coordinate transform section
  • the reference numeral 6 indicates a coordinate inverse-transform section
  • the reference numeral 7 indicates a rotation position sensor which detects a rotor rotation angle ⁇ and a rotation angular velocity ⁇ from an encoder waveform abz, outputs the rotation angle ⁇ to the coordinate transform section 5 , the coordinate inverse-transform section 6 and the three-phase/two-phase coordinate transform section 14 , and outputs the angular velocity ⁇ to the periodic disturbance observer 3 .
  • G F in the periodic disturbance observer indicates a low-pass filter
  • di dqc indicates compensation i d and i q values
  • di* dqn indicates compensation i d and i q command values.
  • the plant model section 4 inputs the output command v dq ref from the current control section 12 and calculates virtual current value i ⁇ dq (i d , i q ) according to a circuit equation of the motor, and sets this value as an oscillation suppression target.
  • the current control section 12 suppresses oscillation of detected i dq within a response range of the current control section 12 .
  • An oscillation amount is superimposed on the command v dq ref , and thus an output current oscillates and appears as periodic disturbance. For this reason, oscillation is not observed in i dq inside the inverter.
  • R indicates armature resistance
  • Ld indicates d axis inductance
  • Lq indicates q axis inductance
  • ⁇ indicates the number of interlinkage fluxes.
  • a highly accurate parameter does not required as long as the parameter is within a robustness range of the periodic disturbance observer 3 .
  • an internal system model of the periodic disturbance observer 3 can be previously computed by applying a design value or the like, and accurate acquisition through actual measurement is not necessarily required.
  • the coordinate transform section 5 performs harmonic dq transform according to Equation (15).
  • a compensation value is calculated according to a typical control method of the periodic disturbance observer 3 .
  • the coordinate inverse-transform section 6 transforms the compensation value to a dq coordinate system by coordinate system inverse-transform of Equation (16).
  • Compensation current detection value di dqc obtained therethrough is superimposed on the detected current i dq and is set as a compensation value i dq ′, and a difference from i* dq is obtained, then is inputted to the current control section 12 .
  • a current detection value can be directly compensated by reducing periodic disturbance due to the current sensor error.
  • FIG. 2 is a block diagram of current detection error correction according to a second embodiment.
  • the first embodiment illustrated in FIG. 1 although oscillation suppression can be achieved, an error value of the current sensor cannot be directly obtained.
  • the sensor error does not frequently change, if learning of an error value is performed and an output value of the sensor is directly compensated, this is useful from the viewpoint of a calculation load and control response. Accordingly, in the present embodiment, a function of specifically estimating the error value of the current sensor error is added to the function illustrated in FIG. 1 .
  • a reference numeral 20 indicates a current sensor error estimation section which includes an offset error calculation section 21 and a gain error calculation section 22 .
  • a periodic disturbance observer 30 is a periodic disturbance observer for compensation of the current sensor error which includes the transform sections 5 and 6 illustrated in FIG. 1 .
  • a reference numeral 8 indicates a two-phase/three-phase coordinate transform section.
  • the sensor error is estimated.
  • the offset error calculation section 21 extracts absolute values of a DC component and 1f component from the current i uvw sens and the i dq ′ that is three-phase-transformed by the coordinate transform section 8 , in a state in which oscillation is sufficiently suppressed and the sensor error is corrected.
  • the sensor error In the state in which the sensor error is sufficiently corrected, the sensor error is not generated in i dq ′, while i uvw sens are observed in a state in which the sensor error is generated in a true value. Therefore, by comparing both of the currents, it is possible to estimate the sensor error.
  • the offset error can be obtained by comparing both currents.
  • the gain error calculation section 22 performs the same calculation, and a value of a gain error is obtained through division.
  • FIG. 3 is a control block diagram of current detection error correction according to a third embodiment.
  • a reference numeral 9 indicates a memory
  • a reference numeral 16 indicates a current error operation section
  • SW 1 to SW 3 indicate switches.
  • the switches SW 2 and SW 3 are brought into an ON state when it is estimated that the sensor error does not change through learning of an error value by the current sensor error estimation section 20 , and the error value is stored in the memory 9 .
  • the current error operation section 16 in the inverter performs correction calculation for the output value i uvw sens of the current sensor 15 by referring to the estimated error value stored in the memory 9 , and outputs a result thereof to the coordinate transform section 14 .
  • the switch SW 1 When the switches SW 2 and SW 3 are in the ON state, the switch SW 1 is in an OFF state.
  • the compensation value di dqc of the currents i d and i q from the periodic disturbance observer 30 are not inputted to the inverter, but the output current i dq of the coordinate transform section 14 is inputted to the inverter, and a difference from the command value i* dq is obtained.
  • the switches SW 2 and SW 3 are in the OFF state, and the switch SW 1 is in the ON state.
  • i dq ′ is obtained by performing a difference calculation between the compensation value di dqc from the periodic disturbance observer 30 and the detection values i dq , and a difference between this i dq ′ and the command value i* dq is obtained.
  • the calculation load can be reduced.
  • the compensation value of the output from the periodic disturbance observer due to response of the periodic disturbance observer.
  • the current sensor error can be corrected with good response.
  • Each embodiment described above is a case of a three-phase detection where the number of detection phases in the current sensor is three (the method is effective in not only a case of the three-phase detection, but also a case of a two-phase detection).
  • the sensor error value can be directly estimated from a compensation value for oscillation suppression.
  • a current sensor performs two-phase detection in terms of cost.
  • the method of the embodiments is useful in that the sensor error value is directly obtained.
  • a reference numeral 10 indicates a function component detection section which inputs an output i ⁇ q from the plant model section 4 as a suppression target and outputs a result thereof to the periodic disturbance observer 3 .
  • i ⁇ q is also inputted to a compensation value/error transform section 6 a which transforms a compensation value into a corresponding error, and a correction signal is outputted from the compensation value/error transform section 6 a to the current error operation section 16 .
  • a compensation value diq c,1f for 1f is outputted in the form of Equation (17) with diq a1 and diq b1 being constants.
  • Equation (18) is derived through coefficient comparison with Equation (9) with respect to the offset error.
  • a compensation value di qc,2f for 2f is outputted in the form of Equation (19) with diq a2 and diq b2 being constants.
  • Equation (21) is derived through coefficient comparison with Equation (9) with respect to the gain error. However, it is assumed that there is no balance value in the gain error at this time, and a condition of Equation (20) is satisfied.
  • a balance error is defined as a same direction error (two sensor errors are the same, like ⁇ x %) of each sensor, and an unbalance error is defined as a different direction error (two sensor errors are different, like +x % and ⁇ y %) of each sensor.
  • the sensor error value is obtained by transforming a compensation value of the output di gcn from the periodic disturbance observer 3 by the transform section 6 a according to Equations (18) and (21), and the sensor output detection value is directly corrected, then periodic disturbance due to the sensor error is suppressed.
  • the q axis is a suppression target.
  • the same performance can be applied to a case of the d axis.
  • the two-phase detection type controller has a function of estimating the sensor error value for suppressing oscillation due to the current sensor error for the control target (the object to be controlled) that causes the periodic disturbance due to the current sensor error. It is therefore possible to directly estimate the current sensor error.
  • FIG. 5 is a control block of a periodic disturbance observer according to the present embodiment.
  • a periodic disturbance observer 30 a for compensation of the current sensor error has functions of the function component detection section 10 and the transform section 6 a illustrated in FIG. 4 .
  • An error estimation value (an offset error and a gain error) calculated by the periodic disturbance observer 30 a is stored in the memory 9 , and is also inputted to the current error operation section 16 via a contact point b of the switch SW.
  • the error estimation value stored in the memory 9 is inputted to the current error operation section 16 via a contact point a of the switch SW.
  • the contact point of the switch SW is switched from the contact point b to the contact point a side when it is determined that oscillation suppression control converges.
  • the calculation load can be reduced.
  • the compensation value of the output from the periodic disturbance observer due to response of the periodic disturbance observer.
  • the current sensor error can be corrected with good response.
  • the influence of the sensor error on an average torque is corrected.
  • the influence of a balance error of the gain error on the average torque cannot be corrected.
  • a DC error caused by the gain error expressed in Equation (5) is not corrected.
  • FIG. 6 illustrates a case where an average torque correction function is added to the first embodiment illustrated in FIG. 1 .
  • FIG. 7 illustrates a case where an average torque correction function is added to the fourth embodiment illustrated in FIG. 4 .
  • FIGS. 6 and 7 are different from FIGS. 1 and 4 in that current error operation sections 16 a and 16 b are provided.

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JP2013203386A JP5929863B2 (ja) 2013-09-30 2013-09-30 制御装置
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PCT/JP2014/075351 WO2015046286A1 (ja) 2013-09-30 2014-09-25 制御装置

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US10401743B2 (en) 2015-06-19 2019-09-03 Asml Netherlands B.V. Control system, positioning system, lithographic apparatus and device manufacturing method
US10666180B2 (en) * 2015-07-22 2020-05-26 Texas Instruments Incorporated Adaptive torque disturbance cancellation for electric motors
KR101684182B1 (ko) * 2015-10-14 2016-12-07 현대자동차주식회사 모터 제어기의 외란 보상 시스템
JP6257689B2 (ja) * 2016-04-22 2018-01-10 三菱電機株式会社 同期機制御装置
TWI634748B (zh) * 2017-12-05 2018-09-01 財團法人工業技術研究院 量測系統及其鎖相迴路暨量測方法
JP6888564B2 (ja) * 2018-02-13 2021-06-16 オムロン株式会社 モデル予測制御装置、モデル予測制御装置の制御方法、情報処理プログラム、および記録媒体
CN111239661B (zh) * 2020-01-16 2022-02-18 西北工业大学 基于固定点采样的三相电流传感器误差校正系统及方法
CN111313767B (zh) * 2020-02-13 2022-06-14 西北工业大学 基于斩波周期正交双电机电流传感器协同系统及校正方法
CN111181447B (zh) * 2020-02-13 2022-02-18 西北工业大学 基于自生探测信号电机群电流传感器协同系统及校正方法
CN111181448B (zh) * 2020-02-13 2022-02-18 西北工业大学 一种双电机群相电流传感器误差协同系统及校正方法
CN115128456B (zh) * 2022-06-29 2023-04-07 哈尔滨工业大学 一种双余度电机开路故障检测及故障定位方法
CN116733687B (zh) * 2023-04-28 2024-01-12 广东工业大学 一种风机内部模态谐振的检测方法
CN117148250B (zh) * 2023-10-31 2024-02-09 江苏威进智控科技有限公司 一种交流电机定子电流传感器检测误差自校正方法

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JP2015069439A (ja) 2015-04-13
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CN105593770A (zh) 2016-05-18
JP5929863B2 (ja) 2016-06-08
KR101699463B1 (ko) 2017-01-24
US20160218652A1 (en) 2016-07-28

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